Quaternion Class Reference

Stores an orientation. More...

#include <Quaternion.hpp>

Public Member Functions
	Quaternion ()
	Constructor.
	Quaternion (const Vec3 &vec, float aW)
Vec3	operator* (const Vec3 &vec) const
	Multiplying a quaternion q with a vector v applies the q-rotation to vec. More...
Quaternion	operator* (const Quaternion &aQ) const
	Applies rotation aQ to this quaternion and returns the result. More...
bool	operator== (const Quaternion &q) const
bool	operator!= (const Quaternion &q) const
Quaternion	Conjugate () const
float	FindTwist (const Vec3 &axis) const
	Finds twist angle around axis. More...
void	GetAxisAngle (Vec3 &outAxis, float &outAngleRad) const
void	FromEuler (const Vec3 &euler)
void	FromAxisAngle (const Vec3 &axis, float angleDeg)
void	FromMatrix (const Matrix44 &mat)
void	GetMatrix (Matrix44 &outMatrix) const
Vec3	GetEuler () const
void	Normalize ()
	Normalizes the quaternion if it's not near unit-length already.

Static Public Member Functions
static Quaternion	CreateFromAxisAngle (const Vec3 &axis, float angleDeg)

Public Attributes
float	x
float	y
float	z
float	w

Detailed Description

Stores an orientation.

Constructor & Destructor Documentation

Quaternion()

Quaternion::Quaternion ( const Vec3 &  vec, float  aW  )

inline

Parameters

vec	Vector.
aW	w.

Member Function Documentation

Conjugate()

Quaternion Quaternion::Conjugate ( ) const

inline

Gets conjugate. If the quaternion is of unit length, the conjugate is the inverse.

Returns

Conjugate.

CreateFromAxisAngle()

static Quaternion Quaternion::CreateFromAxisAngle ( const Vec3 &  axis, float  angleDeg  )

inlinestatic

Parameters

axis	Axis. Should be normalized.
angleDeg	Angle in degrees.

FindTwist()

float Quaternion::FindTwist ( const Vec3 &  axis ) const

inline

Finds twist angle around axis.

Parameters

axis

Axis.

Returns

Twist angle (

Todo:

in radians? )

FromAxisAngle()

void Quaternion::FromAxisAngle ( const Vec3 &  axis, float  angleDeg  )

inline

Parameters

axis	Axis. Should be normalized.
angleDeg	Angle in degrees.

FromEuler()

void Quaternion::FromEuler ( const Vec3 &  euler )

inline

http://web.archive.org/web/20060914224155/http://web.archive.org/web/20041029003853/http://www.j3d.org/matrix_faq/matrfaq_latest.html#Q60

Parameters

euler

Euler angles.

FromMatrix()

void Quaternion::FromMatrix ( const Matrix44 &  mat )

inline

Parameters

mat

Matrix.

GetAxisAngle()

void Quaternion::GetAxisAngle ( Vec3 &  outAxis, float &  outAngleRad  ) const

inline

Parameters

outAxis	Axis.
outAngleRad	in radians.

GetEuler()

Vec3 Quaternion::GetEuler ( ) const

inline

http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/

Returns

Euler angles in degrees.

GetMatrix()

void Quaternion::GetMatrix ( Matrix44 &  outMatrix ) const

inline

Gets matrix for unit-length quaternion.

Parameters

outMatrix

column-major order matrix.

operator!=()

bool Quaternion::operator!= ( const Quaternion &  q ) const

inline

Inequality operator.

Parameters

q	Tested Quaternion.

Returns

True if quaternions are not component-wise equal, false otherwise.

operator*() [1/2]

Quaternion Quaternion::operator* ( const Quaternion &  aQ ) const

inline

Applies rotation aQ to this quaternion and returns the result.

Returns

This quaterion rotated by aQ.

operator*() [2/2]

Vec3 Quaternion::operator* ( const Vec3 &  vec ) const

inline

Multiplying a quaternion q with a vector v applies the q-rotation to vec.

Parameters

vec	Input vector.

Returns

Output vector that's rotated by this Quaternion.

operator==()

bool Quaternion::operator== ( const Quaternion &  q ) const

inline

Equality operator.

Parameters

q	Tested Quaternion.

Returns

True if quaternions are component-wise equal, false otherwise.

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The documentation for this class was generated from the following file:

• /home/glaze/Documents/src/Aether3D_2013/Include/Quaternion.hpp